Glider dive log

OKMC Nov12 * SG129 * Dive index * Mission links * Dive 248 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 129 HD_C 9.8541004e-06 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 4 HEADING -1 ROLL_MAX 3935 ALTIM_PING_DEPTH 0

DIVE 248 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1925 ALTIM_FREQUENCY 13

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 400 R_PORT_OVSHOOT 66 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 20 N_FILEKB 4 R_STBD_OVSHOOT 96 INT_PRESSURE_YINT 0

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

D_CALL 0 N_NOCOMM 2 VBD_MIN 210 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_MAX 3600 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2409 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 390 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 410 CALL_WAIT 60 VBD_TIMEOUT 540 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -13 T_GPS_CHARGE -2967.0562 CF8_MAXERRORS 0 PHONE_DEVICE 48

USE_ICE 0 T_RSLEEP 3 AH0_24V 149.5 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 98.599998 RAFOS_DEVICE -1

D_OFFGRID 1000 RAFOS_PEAK_OFFSET 1.5 MINV_24V 22 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 9.5 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 80 FG_AHR_24V 120.57124 SEABIRD_T_G 0.004337111

MAX_BUOY 180 PITCH_MAX 3800 PHONE_SUPPLY -2 SEABIRD_T_H 0.00062520173

COURSE_BIAS 0 C_PITCH 2160 PRESSURE_YINT -51.692307 SEABIRD_T_I 2.3466939e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001153375 SEABIRD_T_J 2.4866913e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125753 AD7714Ch0Gain 128 SEABIRD_C_G -10.062903

RHO 1.0275 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1231569

MASS 51538 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017987719

NAV_MODE 2 PITCH_TIMEOUT 15 COMPASS_USE 4 SEABIRD_C_J 0.0002252144

FERRY_MAX 45 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0.0049999999 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_10V 98.599998 D_PITCH 0 PITCH_ADJ_DBAND 2 SIM_W 0

AH0_24V 149.5 D_SAFE 0 PITCH_ADJ_GAIN 0.0049999999 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PITCH_CNV 0.003125753 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3800 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 120.57124 PITCH_MIN 80 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001153375 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_YINT -51.692307 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 1 T_BOOST 0

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 390

CALL_WAIT 60 HD_C 9.8541004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -2967.0562

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 129 RHO 1.0275 T_MISSION 410

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2160 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1900 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 1925 LOGGERDEVICE3 -1 ROLL_MAX 3935 UNCOM_BLEED 20

C_VBD 2409 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 215 USE_BATHY -13

DEEPGLIDERMB 0 MASS 51538 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 180 R_PORT_OVSHOOT 66 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 9.5 R_STBD_OVSHOOT 96 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 22 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 4 SC_RECORDABOVE 2000.0 VBD_MAX 3600

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_G -10.062903 VBD_MIN 210

DIVE 248 NOCOMM_ACTION 163 SEABIRD_C_H 1.1231569 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_DIVES 0 SEABIRD_C_I -0.0017987719 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 20 N_FILEKB 4 SEABIRD_C_J 0.0002252144 VBD_TIMEOUT 540

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.004337111 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_H 0.00062520173 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.3466939e-05 XPDR_VALID 4

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_J 2.4866913e-06

Pre-dive calculations and measurements:

GPS1 030113,095216,1830.379,12220.941,11,3.5,30,-2.0 TGT_NAME S1

_CALLS 1 TGT_LATLONG 1831.410,12216.350

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030113,095954,1830.751,12220.847,18,2.9,37,-2.0 MHEAD_RNG_PITCHd_Wd 262.5,7991,-14.2,-8.462,-17.62

SPEED_LIMITS 0.147,0.266 D_GRID 470

Post-dive calculations and measurements:

FINISH 0.9,1.010581 _10V_AH 10.3,34.866

SM_CCo 9957,0.00,0.000,0,0,578,449.14 FG_AHR_24Vo 120.571

SM_GC 1.66,6.40,0.00,0.00,0.049,0.000,0.000,65,1928,578,-6.47,-0.20,449.14,0,0,0,0,0,0,26.16,28.83,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 1823.67,12223.22,030113,060650 MEM 308692

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20117,575

HUMID 52.04 CAP_FILE_SIZE 132360,0

INTERNAL_PRESSURE 9.2777 CFSIZE 260034560,226779136

TCM_TEMP 23.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.076,190.0,1

SC_FREEKB 3925152 GPS 030113,124736,1829.875,12219.462,40,0.9,40,-2.0

_24V_AH 23.7,49.490

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 240 90.52 nil 0 0 0.00

Roll_motor 92 45 100.79 nil 0 0 0.00

VBD_pump_during_apogee 487 1009 11665.18 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9910 17 4074.00

Iridium_during_xfer 256 132 806.02 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 31 12.58

TT8 1785 11 207.05

LPSleep 6136 2 138.42

TT8_Active 545 11 63.23

TT8_Sampling 1689 37 652.03

TT8_CF8 257 44 119.17

TT8_Kalman 0 0 0.00

Analog_circuits 1593 15 257.74

GPS_charging 0 0 0.00

Compass 1347 8 114.36

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.54 -175.2 0.0 0.0 0 86 0.00 0.00 -65.22 0.000 2 0.000 0.000 49 1919 1907 0 0 0 0 0 0 28.83 28.83 28.83

89 -0.54 -175.2 3.4 -5.9 11 133 7.88 2.03 -27.67 0.000 4 0.241 0.046 1968 3297 3124 0 0 0 0 0 0 25.22 26.14 26.57

251 -0.48 -175.2 42.7 -29.1 35 259 0.12 1.98 0.00 0.000 6 0.168 0.023 2000 1906 3124 0 0 0 0 0 0 25.93 26.32 28.83

558 -0.44 -175.2 101.6 -14.2 52 563 0.00 1.98 0.00 0.000 4 0.000 0.031 2001 537 3124 0 0 0 0 0 0 28.83 26.32 28.83

762 -0.41 -175.2 134.2 -14.5 62 768 0.12 1.95 0.00 0.000 6 0.151 0.021 2032 1910 3126 0 0 0 0 0 0 26.10 26.42 28.83

1086 -0.40 -175.2 167.3 -12.8 78 1092 0.00 1.98 0.00 0.000 4 0.000 0.029 2028 538 3125 0 0 0 0 0 0 28.83 26.36 28.83

1205 -0.40 -175.2 178.9 -11.0 83 1211 0.00 1.98 0.00 0.000 6 0.000 0.021 2020 1937 3126 0 0 0 0 0 0 28.83 26.43 28.83

1510 -0.40 -175.2 208.2 -8.1 99 1516 0.00 2.05 0.00 0.000 4 0.000 0.031 2020 548 3125 0 0 0 0 0 0 28.83 26.36 28.83

1553 -0.40 -175.2 211.9 -8.1 101 1558 0.00 1.95 0.00 0.000 6 0.000 0.021 2012 1931 3128 0 0 0 0 0 0 28.83 26.44 28.83

1876 -0.40 -175.2 246.0 -10.8 117 1881 0.00 2.03 0.00 0.000 4 0.000 0.030 2012 542 3124 0 0 0 0 0 0 28.83 26.36 28.83

2003 -0.40 -175.2 258.8 -10.2 123 2008 0.00 1.98 0.00 0.000 6 0.000 0.022 2005 1918 3123 0 0 0 0 0 0 28.83 26.44 28.83

2321 -0.40 -175.2 290.0 -9.4 139 2326 0.00 2.05 0.00 0.000 4 0.000 0.034 1994 3312 3122 0 0 0 0 0 0 28.83 26.30 28.83

2384 -0.40 -175.2 295.4 -8.5 142 2390 0.12 1.98 0.00 0.000 6 0.132 0.022 2032 1910 3122 0 0 0 0 0 0 26.17 26.45 28.83

2708 -0.41 -175.2 316.4 -6.3 158 2714 0.00 1.98 0.00 0.000 4 0.000 0.031 2032 550 3121 0 0 0 0 0 0 28.83 26.34 28.83

2806 -0.41 -175.2 322.6 -7.4 162 2813 0.00 1.95 0.00 0.000 6 0.000 0.023 2031 1923 3119 0 0 0 0 0 0 28.83 26.43 28.83

3113 -0.42 -175.2 346.3 -7.2 178 3114 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 1923 3119 0 0 0 0 0 0 28.83 28.83 28.83

3414 -0.43 -175.2 365.1 -6.3 193 3419 0.00 2.03 0.00 0.000 4 0.000 0.031 2031 539 3117 0 0 0 0 0 0 28.83 26.33 28.83

3458 -0.43 -175.2 368.4 -6.9 195 3463 0.00 2.00 0.00 0.000 6 0.000 0.022 2032 1918 3116 0 0 0 0 0 0 28.83 26.41 28.83

3782 -0.43 -175.2 391.8 -6.2 211 3788 0.00 2.03 -0.08 0.000 4 0.000 0.043 2032 555 3140 0 0 0 0 0 0 28.83 26.32 25.46

3847 -0.43 -175.2 397.2 -8.1 214 3852 0.00 1.95 0.00 0.000 6 0.000 0.023 2032 1924 3141 0 0 0 0 0 0 28.83 26.41 28.83

4170 -0.45 -175.2 422.4 -8.0 230 4172 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 1924 3140 0 0 0 0 0 0 28.83 28.83 28.83

4471 -0.46 -175.2 443.0 -6.5 245 4476 0.00 2.03 0.00 0.000 4 0.000 0.032 2032 552 3140 0 0 0 0 0 0 28.83 26.31 28.83

4515 -0.47 -175.2 446.2 -6.8 247 4520 0.00 1.98 0.00 0.000 6 0.000 0.023 2031 1928 3140 0 0 0 0 0 0 28.83 26.40 28.83

4839 -0.49 -175.2 468.5 -6.9 263 4844 0.00 2.05 0.00 0.000 4 0.000 0.037 2031 3308 3139 0 0 0 0 0 0 28.83 26.25 28.83

4860 end dive: TARGET_DEPTH_EXCEEDED

state 4860 begin apogee

4868 -0.17 0.0 470.2 -6.7 264 5012 0.20 0.00 138.95 1.010 6 0.116 0.000 2104 1912 2409 0 0 0 0 0 0 26.15 28.83 23.99

5014 end apogee: CONTROL_FINISHED_OK

state 5014 begin climb

5016 0.54 175.2 476.5 0.0 271 5165 0.65 2.25 139.80 0.977 4 0.090 0.033 2332 514 1694 0 0 0 0 0 0 25.16 24.82 23.69

5229 0.61 291.6 471.0 4.7 282 5329 0.00 2.05 93.80 0.964 6 0.000 0.021 2333 1904 1222 0 0 0 0 0 0 28.83 25.67 23.85

5629 0.69 404.6 451.6 4.8 302 5730 0.12 2.10 92.68 0.966 4 0.096 0.032 2393 3276 758 0 0 0 0 0 0 26.25 25.27 24.20

5776 0.70 404.6 438.4 9.7 309 5781 0.00 2.03 0.00 0.000 6 0.000 0.024 2397 1905 755 0 0 0 0 0 0 28.83 25.82 28.83

6099 0.72 404.6 407.0 9.5 325 6105 0.00 2.08 0.00 0.000 4 0.000 0.035 2402 503 752 0 0 0 0 0 0 28.83 26.25 28.83

6142 0.74 404.6 402.3 10.4 327 6149 0.00 2.00 0.00 0.000 6 0.000 0.021 2402 1911 752 0 0 0 0 0 0 28.83 26.37 28.83

6466 0.75 404.6 364.9 13.0 343 6472 0.00 2.00 0.00 0.000 4 0.000 0.034 2402 3278 751 0 0 0 0 0 0 28.83 26.30 28.83

6539 0.76 404.6 356.5 13.2 346 6544 0.00 2.00 0.00 0.000 6 0.000 0.024 2402 1887 751 0 0 0 0 0 0 28.83 26.40 28.83

6852 0.78 404.6 320.1 10.7 362 6853 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 1887 750 0 0 0 0 0 0 28.83 28.83 28.83

7154 0.80 404.6 288.5 10.6 377 7159 0.00 2.05 0.00 0.000 4 0.000 0.037 2402 507 750 0 0 0 0 0 0 28.83 26.32 28.83

7172 0.81 404.6 288.5 10.6 377 7179 0.00 1.98 0.00 0.000 6 0.000 0.021 2402 1889 750 0 0 0 0 0 0 28.83 26.46 28.83

7478 0.83 404.6 256.0 9.9 393 7484 0.00 2.05 0.00 0.000 4 0.000 0.034 2402 3282 749 0 0 0 0 0 0 28.83 26.30 28.83

7536 0.85 404.6 251.5 10.0 395 7543 0.00 2.03 0.00 0.000 6 0.000 0.025 2402 1870 747 0 0 0 0 0 0 28.83 26.40 28.83

7841 0.87 404.6 221.7 9.2 411 7847 0.10 2.03 0.00 0.000 4 0.112 0.034 2453 502 749 0 0 0 0 0 0 26.48 26.29 28.83

7880 0.88 404.6 219.3 9.6 412 7887 0.00 2.00 0.00 0.000 6 0.000 0.021 2454 1915 748 0 0 0 0 0 0 28.83 26.41 28.83

8185 0.88 404.6 179.4 12.9 428 8190 0.00 2.00 0.00 0.000 4 0.000 0.034 2453 3277 748 0 0 0 0 0 0 28.83 26.29 28.83

8258 0.88 404.6 169.9 14.9 431 8264 0.00 1.98 0.00 0.000 6 0.000 0.024 2460 1894 748 0 0 0 0 0 0 28.83 26.41 28.83

8572 0.88 404.6 122.0 14.2 447 8577 0.00 2.05 0.00 0.000 4 0.000 0.033 2460 3271 748 0 0 0 0 0 0 28.83 26.29 28.83

8659 0.88 404.6 110.6 13.7 451 8664 0.00 1.98 0.00 0.000 6 0.000 0.024 2465 1897 748 0 0 0 0 0 0 28.83 26.40 28.83

8976 0.88 404.6 75.1 8.9 467 8982 0.00 2.05 0.00 0.000 4 0.000 0.035 2468 504 748 0 0 0 0 0 0 28.83 26.28 28.83

9030 0.90 407.2 71.4 8.4 469 9035 0.00 1.98 0.00 0.000 6 0.000 0.020 2468 1893 748 0 0 0 0 0 0 28.83 26.44 28.83

9343 0.92 407.2 39.7 8.5 490 9349 0.00 2.05 0.00 0.000 4 0.000 0.034 2468 511 748 0 0 0 0 0 0 28.83 26.29 28.83

9439 0.95 412.5 32.5 8.3 499 9451 0.00 1.98 6.38 0.575 6 0.000 0.020 2468 1914 727 0 0 0 0 0 0 28.83 26.44 24.34

9753 0.98 412.5 5.9 10.1 553 9760 0.00 2.08 0.00 0.000 4 0.000 0.031 2468 500 727 0 0 0 0 0 0 28.83 26.31 28.83

9831 1.08 576.0 3.1 3.1 567 9853 0.12 2.00 15.82 0.054 2 0.091 0.020 2526 1930 581 0 0 0 0 0 0 26.29 26.44 28.83

9854 end climb: SURFACE_DEPTH_REACHED

state 9854 begin surface coast

9882 end surface coast: CONTROL_FINISHED_OK

state 9882 begin surface

ID	129	HD_C	9.8541004e-06	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	4	HEADING	-1	ROLL_MAX	3935	ALTIM_PING_DEPTH	0
DIVE	248	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1925	ALTIM_FREQUENCY	13
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	400	R_PORT_OVSHOOT	66	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	20	N_FILEKB	4	R_STBD_OVSHOOT	96	INT_PRESSURE_YINT	0
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
D_CALL	0	N_NOCOMM	2	VBD_MIN	210	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_MAX	3600	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2409	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	390	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	410	CALL_WAIT	60	VBD_TIMEOUT	540	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-13	T_GPS_CHARGE	-2967.0562	CF8_MAXERRORS	0	PHONE_DEVICE	48
USE_ICE	0	T_RSLEEP	3	AH0_24V	149.5	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	98.599998	RAFOS_DEVICE	-1
D_OFFGRID	1000	RAFOS_PEAK_OFFSET	1.5	MINV_24V	22	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	9.5	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	80	FG_AHR_24V	120.57124	SEABIRD_T_G	0.004337111
MAX_BUOY	180	PITCH_MAX	3800	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00062520173
COURSE_BIAS	0	C_PITCH	2160	PRESSURE_YINT	-51.692307	SEABIRD_T_I	2.3466939e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001153375	SEABIRD_T_J	2.4866913e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125753	AD7714Ch0Gain	128	SEABIRD_C_G	-10.062903
RHO	1.0275	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1231569
MASS	51538	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017987719
NAV_MODE	2	PITCH_TIMEOUT	15	COMPASS_USE	4	SEABIRD_C_J	0.0002252144
FERRY_MAX	45	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0.0049999999	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0

GPS1	030113,095216,1830.379,12220.941,11,3.5,30,-2.0	TGT_NAME	S1
_CALLS	1	TGT_LATLONG	1831.410,12216.350
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030113,095954,1830.751,12220.847,18,2.9,37,-2.0	MHEAD_RNG_PITCHd_Wd	262.5,7991,-14.2,-8.462,-17.62
SPEED_LIMITS	0.147,0.266	D_GRID	470

FINISH	0.9,1.010581	_10V_AH	10.3,34.866
SM_CCo	9957,0.00,0.000,0,0,578,449.14	FG_AHR_24Vo	120.571
SM_GC	1.66,6.40,0.00,0.00,0.049,0.000,0.000,65,1928,578,-6.47,-0.20,449.14,0,0,0,0,0,0,26.16,28.83,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	1823.67,12223.22,030113,060650	MEM	308692
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20117,575
HUMID	52.04	CAP_FILE_SIZE	132360,0
INTERNAL_PRESSURE	9.2777	CFSIZE	260034560,226779136
TCM_TEMP	23.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.076,190.0,1
SC_FREEKB	3925152	GPS	030113,124736,1829.875,12219.462,40,0.9,40,-2.0
_24V_AH	23.7,49.490

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	240	90.52	nil	0	0	0.00
Roll_motor	92	45	100.79	nil	0	0	0.00
VBD_pump_during_apogee	487	1009	11665.18	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9910	17	4074.00
Iridium_during_xfer	256	132	806.02	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	31	12.58
TT8	1785	11	207.05
LPSleep	6136	2	138.42
TT8_Active	545	11	63.23
TT8_Sampling	1689	37	652.03
TT8_CF8	257	44	119.17
TT8_Kalman	0	0	0.00
Analog_circuits	1593	15	257.74
GPS_charging	0	0	0.00
Compass	1347	8	114.36
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.54	-175.2	0.0	0.0	0	86	0.00	0.00	-65.22	0.000	2	0.000	0.000	49	1919	1907	0	0	0	0	0	0	28.83	28.83	28.83
89	-0.54	-175.2	3.4	-5.9	11	133	7.88	2.03	-27.67	0.000	4	0.241	0.046	1968	3297	3124	0	0	0	0	0	0	25.22	26.14	26.57
251	-0.48	-175.2	42.7	-29.1	35	259	0.12	1.98	0.00	0.000	6	0.168	0.023	2000	1906	3124	0	0	0	0	0	0	25.93	26.32	28.83
558	-0.44	-175.2	101.6	-14.2	52	563	0.00	1.98	0.00	0.000	4	0.000	0.031	2001	537	3124	0	0	0	0	0	0	28.83	26.32	28.83
762	-0.41	-175.2	134.2	-14.5	62	768	0.12	1.95	0.00	0.000	6	0.151	0.021	2032	1910	3126	0	0	0	0	0	0	26.10	26.42	28.83
1086	-0.40	-175.2	167.3	-12.8	78	1092	0.00	1.98	0.00	0.000	4	0.000	0.029	2028	538	3125	0	0	0	0	0	0	28.83	26.36	28.83
1205	-0.40	-175.2	178.9	-11.0	83	1211	0.00	1.98	0.00	0.000	6	0.000	0.021	2020	1937	3126	0	0	0	0	0	0	28.83	26.43	28.83
1510	-0.40	-175.2	208.2	-8.1	99	1516	0.00	2.05	0.00	0.000	4	0.000	0.031	2020	548	3125	0	0	0	0	0	0	28.83	26.36	28.83
1553	-0.40	-175.2	211.9	-8.1	101	1558	0.00	1.95	0.00	0.000	6	0.000	0.021	2012	1931	3128	0	0	0	0	0	0	28.83	26.44	28.83
1876	-0.40	-175.2	246.0	-10.8	117	1881	0.00	2.03	0.00	0.000	4	0.000	0.030	2012	542	3124	0	0	0	0	0	0	28.83	26.36	28.83
2003	-0.40	-175.2	258.8	-10.2	123	2008	0.00	1.98	0.00	0.000	6	0.000	0.022	2005	1918	3123	0	0	0	0	0	0	28.83	26.44	28.83
2321	-0.40	-175.2	290.0	-9.4	139	2326	0.00	2.05	0.00	0.000	4	0.000	0.034	1994	3312	3122	0	0	0	0	0	0	28.83	26.30	28.83
2384	-0.40	-175.2	295.4	-8.5	142	2390	0.12	1.98	0.00	0.000	6	0.132	0.022	2032	1910	3122	0	0	0	0	0	0	26.17	26.45	28.83
2708	-0.41	-175.2	316.4	-6.3	158	2714	0.00	1.98	0.00	0.000	4	0.000	0.031	2032	550	3121	0	0	0	0	0	0	28.83	26.34	28.83
2806	-0.41	-175.2	322.6	-7.4	162	2813	0.00	1.95	0.00	0.000	6	0.000	0.023	2031	1923	3119	0	0	0	0	0	0	28.83	26.43	28.83
3113	-0.42	-175.2	346.3	-7.2	178	3114	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	1923	3119	0	0	0	0	0	0	28.83	28.83	28.83
3414	-0.43	-175.2	365.1	-6.3	193	3419	0.00	2.03	0.00	0.000	4	0.000	0.031	2031	539	3117	0	0	0	0	0	0	28.83	26.33	28.83
3458	-0.43	-175.2	368.4	-6.9	195	3463	0.00	2.00	0.00	0.000	6	0.000	0.022	2032	1918	3116	0	0	0	0	0	0	28.83	26.41	28.83
3782	-0.43	-175.2	391.8	-6.2	211	3788	0.00	2.03	-0.08	0.000	4	0.000	0.043	2032	555	3140	0	0	0	0	0	0	28.83	26.32	25.46
3847	-0.43	-175.2	397.2	-8.1	214	3852	0.00	1.95	0.00	0.000	6	0.000	0.023	2032	1924	3141	0	0	0	0	0	0	28.83	26.41	28.83
4170	-0.45	-175.2	422.4	-8.0	230	4172	0.00	0.00	0.00	0.000	6	0.000	0.000	2032	1924	3140	0	0	0	0	0	0	28.83	28.83	28.83
4471	-0.46	-175.2	443.0	-6.5	245	4476	0.00	2.03	0.00	0.000	4	0.000	0.032	2032	552	3140	0	0	0	0	0	0	28.83	26.31	28.83
4515	-0.47	-175.2	446.2	-6.8	247	4520	0.00	1.98	0.00	0.000	6	0.000	0.023	2031	1928	3140	0	0	0	0	0	0	28.83	26.40	28.83
4839	-0.49	-175.2	468.5	-6.9	263	4844	0.00	2.05	0.00	0.000	4	0.000	0.037	2031	3308	3139	0	0	0	0	0	0	28.83	26.25	28.83
4860	end dive: TARGET_DEPTH_EXCEEDED
state	4860	begin apogee
4868	-0.17	0.0	470.2	-6.7	264	5012	0.20	0.00	138.95	1.010	6	0.116	0.000	2104	1912	2409	0	0	0	0	0	0	26.15	28.83	23.99
5014	end apogee: CONTROL_FINISHED_OK
state	5014	begin climb
5016	0.54	175.2	476.5	0.0	271	5165	0.65	2.25	139.80	0.977	4	0.090	0.033	2332	514	1694	0	0	0	0	0	0	25.16	24.82	23.69
5229	0.61	291.6	471.0	4.7	282	5329	0.00	2.05	93.80	0.964	6	0.000	0.021	2333	1904	1222	0	0	0	0	0	0	28.83	25.67	23.85
5629	0.69	404.6	451.6	4.8	302	5730	0.12	2.10	92.68	0.966	4	0.096	0.032	2393	3276	758	0	0	0	0	0	0	26.25	25.27	24.20
5776	0.70	404.6	438.4	9.7	309	5781	0.00	2.03	0.00	0.000	6	0.000	0.024	2397	1905	755	0	0	0	0	0	0	28.83	25.82	28.83
6099	0.72	404.6	407.0	9.5	325	6105	0.00	2.08	0.00	0.000	4	0.000	0.035	2402	503	752	0	0	0	0	0	0	28.83	26.25	28.83
6142	0.74	404.6	402.3	10.4	327	6149	0.00	2.00	0.00	0.000	6	0.000	0.021	2402	1911	752	0	0	0	0	0	0	28.83	26.37	28.83
6466	0.75	404.6	364.9	13.0	343	6472	0.00	2.00	0.00	0.000	4	0.000	0.034	2402	3278	751	0	0	0	0	0	0	28.83	26.30	28.83
6539	0.76	404.6	356.5	13.2	346	6544	0.00	2.00	0.00	0.000	6	0.000	0.024	2402	1887	751	0	0	0	0	0	0	28.83	26.40	28.83
6852	0.78	404.6	320.1	10.7	362	6853	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	1887	750	0	0	0	0	0	0	28.83	28.83	28.83
7154	0.80	404.6	288.5	10.6	377	7159	0.00	2.05	0.00	0.000	4	0.000	0.037	2402	507	750	0	0	0	0	0	0	28.83	26.32	28.83
7172	0.81	404.6	288.5	10.6	377	7179	0.00	1.98	0.00	0.000	6	0.000	0.021	2402	1889	750	0	0	0	0	0	0	28.83	26.46	28.83
7478	0.83	404.6	256.0	9.9	393	7484	0.00	2.05	0.00	0.000	4	0.000	0.034	2402	3282	749	0	0	0	0	0	0	28.83	26.30	28.83
7536	0.85	404.6	251.5	10.0	395	7543	0.00	2.03	0.00	0.000	6	0.000	0.025	2402	1870	747	0	0	0	0	0	0	28.83	26.40	28.83
7841	0.87	404.6	221.7	9.2	411	7847	0.10	2.03	0.00	0.000	4	0.112	0.034	2453	502	749	0	0	0	0	0	0	26.48	26.29	28.83
7880	0.88	404.6	219.3	9.6	412	7887	0.00	2.00	0.00	0.000	6	0.000	0.021	2454	1915	748	0	0	0	0	0	0	28.83	26.41	28.83
8185	0.88	404.6	179.4	12.9	428	8190	0.00	2.00	0.00	0.000	4	0.000	0.034	2453	3277	748	0	0	0	0	0	0	28.83	26.29	28.83
8258	0.88	404.6	169.9	14.9	431	8264	0.00	1.98	0.00	0.000	6	0.000	0.024	2460	1894	748	0	0	0	0	0	0	28.83	26.41	28.83
8572	0.88	404.6	122.0	14.2	447	8577	0.00	2.05	0.00	0.000	4	0.000	0.033	2460	3271	748	0	0	0	0	0	0	28.83	26.29	28.83
8659	0.88	404.6	110.6	13.7	451	8664	0.00	1.98	0.00	0.000	6	0.000	0.024	2465	1897	748	0	0	0	0	0	0	28.83	26.40	28.83
8976	0.88	404.6	75.1	8.9	467	8982	0.00	2.05	0.00	0.000	4	0.000	0.035	2468	504	748	0	0	0	0	0	0	28.83	26.28	28.83
9030	0.90	407.2	71.4	8.4	469	9035	0.00	1.98	0.00	0.000	6	0.000	0.020	2468	1893	748	0	0	0	0	0	0	28.83	26.44	28.83
9343	0.92	407.2	39.7	8.5	490	9349	0.00	2.05	0.00	0.000	4	0.000	0.034	2468	511	748	0	0	0	0	0	0	28.83	26.29	28.83
9439	0.95	412.5	32.5	8.3	499	9451	0.00	1.98	6.38	0.575	6	0.000	0.020	2468	1914	727	0	0	0	0	0	0	28.83	26.44	24.34
9753	0.98	412.5	5.9	10.1	553	9760	0.00	2.08	0.00	0.000	4	0.000	0.031	2468	500	727	0	0	0	0	0	0	28.83	26.31	28.83
9831	1.08	576.0	3.1	3.1	567	9853	0.12	2.00	15.82	0.054	2	0.091	0.020	2526	1930	581	0	0	0	0	0	0	26.29	26.44	28.83
9854	end climb: SURFACE_DEPTH_REACHED
state	9854	begin surface coast
9882	end surface coast: CONTROL_FINISHED_OK
state	9882	begin surface